version: 66.07
glider: 543
mission: 9
dive: 43
start: 12 8 113 4 10 48
data:
$ID,543
$MISSION,9
$DIVE,43
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,370
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12530.564
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1695
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,47
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3320
$C_ROLL_CLIMB,3190
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.073162
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,081213,035752,-4257.738,833.340,38,1.0,39,-25.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.1
$GPS2,081213,041024,-4257.738,833.444,22,2.0,22,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,253.2,6270,-17.5,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.46,-146.1,0.0,0.0,0,65,0.00,0.00,-48.67,0.000,2,0.000,0.000,66,3309,2732,0,0,0,0,0,0
$GC,67,-0.46,-146.1,3.2,-4.1,6,85,6.12,1.10,-8.65,0.000,4,0.245,0.090,1533,3958,3071,0,0,0,0,0,0
$GC,140,-0.46,-146.1,18.7,-19.5,17,149,0.00,0.98,0.00,0.000,6,0.000,0.037,1533,3330,3074,0,0,0,0,0,0
$GC,195,-0.46,-146.1,29.9,-19.5,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3330,3075,0,0,0,0,0,0
$GC,340,-0.46,-146.1,57.0,-18.0,51,349,0.00,2.22,0.00,0.000,4,0.000,0.034,1533,1900,3075,0,0,0,0,0,0
$GC,378,-0.46,-146.1,63.0,-15.0,57,386,0.00,2.33,0.00,0.000,6,0.000,0.055,1522,3317,3076,0,0,0,0,0,0
$GC,719,-0.46,-146.1,122.1,-17.9,107,722,0.00,1.00,0.00,0.000,4,0.000,0.060,1518,3944,3076,0,0,0,0,0,0
$GC,820,-0.46,-146.1,141.9,-19.0,116,824,0.00,0.95,0.00,0.000,6,0.000,0.037,1518,3317,3077,0,0,0,0,0,0
$GC,1150,-0.46,-146.1,202.9,-17.8,147,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3318,3077,0,0,0,0,0,0
$GC,1471,-0.46,-146.1,260.1,-17.5,177,1475,0.00,1.00,0.00,0.000,4,0.000,0.062,1513,3942,3078,0,0,0,0,0,0
$GC,1584,-0.46,-146.1,281.9,-18.0,187,1588,0.08,0.95,0.00,0.000,6,0.166,0.037,1536,3317,3078,0,0,0,0,0,0
$GC,1914,-0.46,-146.1,331.3,-14.6,218,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3317,3078,0,0,0,0,0,0
$GC,2233,-0.46,-146.1,377.1,-14.2,248,2237,0.00,1.00,0.00,0.000,4,0.000,0.063,1533,3947,3078,0,0,0,0,0,0
$GC,2346,-0.46,-146.1,394.1,-14.9,258,2350,0.00,0.95,0.00,0.000,6,0.000,0.039,1533,3317,3078,0,0,0,0,0,0
$GC,2678,-0.46,-146.1,441.5,-14.6,276,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3317,3078,0,0,0,0,0,0
$GC,2987,-0.46,-146.1,486.3,-14.3,291,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3317,3077,0,0,0,0,0,0
$GC,3297,-0.46,-146.1,530.4,-14.1,306,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3317,3077,0,0,0,0,0,0
$GC,3606,-0.46,-146.1,574.5,-14.1,321,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3317,3076,0,0,0,0,0,0
$GC,3917,-0.46,-146.1,616.4,-13.2,336,3920,0.00,1.00,0.00,0.000,4,0.000,0.065,1528,3941,3076,0,0,0,0,0,0
$GC,3977,-0.46,-146.1,625.3,-13.6,338,3985,0.00,0.98,0.00,0.000,6,0.000,0.040,1528,3311,3076,0,0,0,0,0,0
$GC,4293,-0.46,-146.1,665.8,-12.6,354,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3312,3075,0,0,0,0,0,0
$GC,4603,-0.46,-146.1,703.9,-12.0,369,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3312,3075,0,0,0,0,0,0
$GC,4911,-0.46,-146.1,740.3,-11.6,384,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3312,3074,0,0,0,0,0,0
$GC,5221,-0.46,-146.1,776.6,-12.0,399,5224,0.00,1.02,0.00,0.000,4,0.000,0.067,1524,3954,3073,0,0,0,0,0,0
$GC,5292,-0.46,-146.1,785.9,-12.1,402,5296,0.00,0.98,0.00,0.000,6,0.000,0.041,1524,3319,3073,0,0,0,0,0,0
$GC,5619,-0.46,-146.1,826.9,-12.6,418,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3318,3073,0,0,0,0,0,0
$GC,5928,-0.46,-146.1,865.9,-12.8,433,5932,0.00,1.00,0.00,0.000,4,0.000,0.067,1519,3946,3072,0,0,0,0,0,0
$GC,5982,-0.46,-146.1,873.3,-13.7,435,5987,0.00,0.98,0.00,0.000,6,0.000,0.041,1519,3315,3072,0,0,0,0,0,0
$GC,6304,-0.46,-146.1,914.6,-12.8,451,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3315,3072,0,0,0,0,0,0
$GC,6613,-0.46,-146.1,953.9,-12.8,466,6617,0.00,1.00,0.00,0.000,4,0.000,0.067,1515,3938,3071,0,0,0,0,0,0
$GC,6690,-0.46,-146.1,964.5,-13.9,469,6696,0.12,0.98,0.00,0.000,6,0.181,0.041,1546,3311,3070,0,0,0,0,0,0
$STATE,6950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6951,begin apogee
$GC,6954,-0.11,0.0,990.5,9.8,482,7096,0.35,0.00,139.18,1.867,6,0.142,0.000,1654,3190,2473,0,0,0,0,0,0
$STATE,7097,end apogee,CONTROL_FINISHED_OK
$STATE,7097,begin climb
$GC,7099,0.46,146.1,995.5,0.0,489,7251,0.57,2.47,142.38,1.822,4,0.100,0.038,1845,1790,1877,0,0,0,0,0,0
$GC,7322,0.47,150.7,978.9,9.8,499,7336,0.00,2.47,4.65,1.325,6,0.000,0.056,1846,3195,1858,0,0,0,0,0,0
$GC,7645,0.47,150.7,939.4,12.3,515,7649,0.00,1.27,0.00,0.000,4,0.000,0.065,1845,3951,1854,0,0,0,0,0,0
$GC,7744,0.47,150.7,924.6,15.2,519,7749,0.00,1.25,0.00,0.000,6,0.000,0.040,1851,3180,1854,0,0,0,0,0,0
$GC,8066,0.47,150.7,881.3,13.8,535,8070,0.00,1.27,0.00,0.000,4,0.000,0.065,1851,3947,1852,0,0,0,0,0,0
$GC,8148,0.47,150.7,868.4,17.0,538,8156,0.00,1.23,0.00,0.000,6,0.000,0.041,1857,3181,1852,0,0,0,0,0,0
$GC,8466,0.47,150.7,823.8,14.5,554,8470,0.00,1.27,0.00,0.000,4,0.000,0.065,1857,3952,1851,0,0,0,0,0,0
$GC,8520,0.47,150.7,814.8,16.7,556,8525,0.00,1.23,0.00,0.000,6,0.000,0.041,1863,3179,1851,0,0,0,0,0,0
$GC,8842,0.47,150.7,767.7,14.6,572,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,3180,1850,0,0,0,0,0,0
$GC,9153,0.47,150.7,722.4,14.8,587,9156,0.00,1.27,0.00,0.000,4,0.000,0.066,1863,3954,1849,0,0,0,0,0,0
$GC,9296,0.47,150.7,698.8,17.1,593,9301,0.00,1.20,0.00,0.000,6,0.000,0.041,1868,3191,1849,0,0,0,0,0,0
$GC,9618,0.47,150.7,653.3,13.7,609,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3191,1849,0,0,0,0,0,0
$GC,9927,0.47,150.7,612.3,13.3,624,9931,0.00,1.25,0.00,0.000,4,0.000,0.066,1869,3951,1849,0,0,0,0,0,0
$GC,10055,0.47,150.7,593.3,14.9,629,10062,0.00,1.20,0.00,0.000,6,0.000,0.041,1874,3189,1848,0,0,0,0,0,0
$GC,10371,0.47,150.7,551.3,13.3,645,10374,0.00,1.25,0.00,0.000,4,0.000,0.065,1875,3953,1848,0,0,0,0,0,0
$GC,10438,0.47,150.7,540.9,16.5,648,10442,0.10,1.17,0.00,0.000,6,0.186,0.041,1852,3192,1848,0,0,0,0,0,0
$GC,10771,0.47,150.7,501.6,11.8,664,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3190,1847,0,0,0,0,0,0
$GC,11079,0.47,150.7,464.0,12.3,679,11083,0.00,1.23,0.00,0.000,4,0.000,0.064,1852,3950,1847,0,0,0,0,0,0
$GC,11150,0.47,150.7,453.8,14.2,682,11154,0.00,1.20,0.00,0.000,6,0.000,0.041,1856,3182,1847,0,0,0,0,0,0
$GC,11477,0.47,150.7,412.5,12.4,698,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3183,1847,0,0,0,0,0,0
$GC,11793,0.47,150.7,373.3,12.4,723,11796,0.00,1.25,0.00,0.000,4,0.000,0.066,1856,3950,1847,0,0,0,0,0,0
$GC,11953,0.47,150.7,350.2,15.3,737,11957,0.00,1.17,0.00,0.000,6,0.000,0.041,1862,3184,1846,0,0,0,0,0,0
$GC,12283,0.47,150.7,306.0,13.5,768,12287,0.00,1.25,0.00,0.000,4,0.000,0.065,1862,3953,1846,0,0,0,0,0,0
$GC,12387,0.47,150.7,290.0,15.5,777,12390,0.00,1.17,0.00,0.000,6,0.000,0.040,1868,3184,1846,0,0,0,0,0,0
$GC,12717,0.47,150.7,243.2,13.8,808,12720,0.00,1.25,0.00,0.000,4,0.000,0.065,1868,3956,1846,0,0,0,0,0,0
$GC,12811,0.47,150.7,228.4,15.4,816,12820,0.00,1.20,0.00,0.000,6,0.000,0.039,1874,3180,1846,0,0,0,0,0,0
$GC,13136,0.47,150.7,182.5,14.2,847,13140,0.00,1.25,0.00,0.000,4,0.000,0.063,1873,3952,1846,0,0,0,0,0,0
$GC,13170,0.47,150.7,177.5,15.2,850,13174,0.10,1.15,0.00,0.000,6,0.178,0.040,1850,3196,1846,0,0,0,0,0,0
$GC,13502,0.47,150.7,138.9,11.0,881,13506,0.00,1.23,0.00,0.000,4,0.000,0.063,1850,3953,1846,0,0,0,0,0,0
$GC,13559,0.47,150.7,131.4,13.3,886,13562,0.00,1.15,0.00,0.000,6,0.000,0.040,1854,3193,1846,0,0,0,0,0,0
$GC,13890,0.47,150.7,92.4,11.7,922,13897,0.00,1.23,0.00,0.000,4,0.000,0.063,1854,3953,1846,0,0,0,0,0,0
$GC,13945,0.47,150.7,85.1,13.6,931,13951,0.00,1.15,0.00,0.000,6,0.000,0.039,1860,3194,1846,0,0,0,0,0,0
$GC,14292,0.47,150.7,44.7,10.5,992,14299,0.00,1.23,0.00,0.000,4,0.000,0.063,1860,3952,1847,0,0,0,0,0,0
$GC,14370,0.47,150.7,36.0,11.8,1005,14376,0.00,1.15,0.00,0.000,6,0.000,0.038,1866,3193,1846,0,0,0,0,0,0
$GC,14515,0.47,150.7,19.9,10.7,1030,14524,0.00,1.23,0.00,0.000,4,0.000,0.063,1866,3953,1846,0,0,0,0,0,0
$GC,14632,0.47,150.7,5.3,13.8,1049,14641,0.00,1.15,0.00,0.000,6,0.000,0.038,1871,3193,1846,0,0,0,0,0,0
$STATE,14654,end climb,SURFACE_DEPTH_REACHED
$STATE,14654,begin surface coast
$FINISH,0.7,1.025999
$STATE,14679,end surface coast,CONTROL_FINISHED_OK
$STATE,14679,begin surface
$SM_CCo,14691,26.83,0.797,0,0,1574,220.03
$SM_GC,2.07,0.00,0.00,26.83,0.000,0.000,0.797,68,3333,1574,-5.09,0.37,220.03
$IRIDIUM_FIX,-4239.11,833.59,071213,232303
$TT8_MAMPS,0.025466
$HUMID,61.30
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.5,8.262
$10V_AH,10.1,5.490
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.250,62.250,286.200,26.825,0.000,28.899,46.227,562.373,0.000,0.000,24.906,2607.638,9233.220,410.578,3072.063,145.696,0.000,1431.184,0.000,2325.216,0.000,1.012,0.000
$DEVICE_MAMPS,244.800,89.505,1866.600,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.585,1794.111,699.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,70362,1056
$CAP_FILE_SIZE,136578,0
$CFSIZE,259252224,255193088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,081704,-4258.714,832.904,24,0.8,25,-25.1